CN211521102U - Multi-axis servo tension control device - Google Patents

Abstract

The utility model relates to a multi-axis servo tension control device, which belongs to the technical field of automatic control. Including PLC controller, servo driver, servo motor, magnetic powder brake/clutch, deviation correction mechanism, reducer, tension sensor, follower roller, tension roller, proximity switch and limit switch to achieve precise control under one Ethernet; PLC controller The inside includes a controller CPU, a digital input module, a digital output module, a remote I/O module, an analog input module, and an analog output module; the utility model can realize automatic tension control, and the precision of the tension control effect is further improved , and the structure and function of the control system are more perfect.

Description

A multi-axis servo tension control device

technical field

The utility model belongs to the technical field of automatic control, in particular to a multi-axis servo tension control device.

Background technique

Multi-axis servo tension control is very important for the production efficiency of building materials, steel, metal processing, wire and cable industry, enameled wire industry, tinned wire, paper industry, textile industry and printing and dyeing industry.

The existing tension control device usually processes and winds the raw material into a cylindrical shape. During the production process, the effect of winding will directly determine the yield and storage life of the product. If the winding is too tight, it is easy to deform or even break the product; if the winding is too loose, it is easy to make the product not compact, which is not conducive to transfer and packaging. In order to make the wound raw materials compact, have a longer life, and have higher product quality, it is necessary to apply a certain tension to the raw materials during the winding process, and keep the tension value constant, so that the wound products can be Uniform thickness, thus guaranteeing higher product quality. In the manufacturing process of winding or drawing, the fluctuation of tension can easily make the production line in an unstable state. Unstable production lines can result in lower quality products that are prone to ragged or broken edges. Therefore, in the entire winding or stretching process, controlling the stability of the tension plays an important role in the quality of the product. The entire production line is controlled by tension throughout, and the tension needs real-time feedback adjustment. Small tension fluctuations will affect the effect of the product and ultimately affect the quality of the product.

Utility model content

The technical scheme adopted by this utility model:

In order to solve the above technical problems, the utility model provides a multi-axis servo tension control device, which includes a PLC controller, a servo driver, a servo motor, a magnetic powder brake/clutch, a deviation correction mechanism, a reducer, a tension sensor, a follower roller, and a tension roller. , Proximity switch and limit switch can be controlled accurately under one Ethernet; PLC controller includes controller CPU, digital input module, digital output module, remote I/O module, analog input module, analog output module ;

The digital signals of the proximity switch, limit switch, laser sensor, and deviation correction sensor are input to the digital input module, and the analog input signal of the tension sensor is sent to the analog input module, and the analog input module sends the input signal through the remote I/ The O module is sent to the switch, the controller CPU reads the analog input signal through the switch, and the digital input module sends the on-site digital input signal to the controller CPU;

According to the input digital input signal and analog input signal, the controller CPU runs the internal control program to generate digital output signal, analog output signal and servo drive output signal; the output signal is used to control the operation of the field equipment,

Among them, the digital output signal is sent to the various hardware devices on site through the digital output module, and the hardware devices include alarm lights and deviation correction drivers; the analog output signal is sent to the analog output module through the switch and remote I/O module, and then sent to the site. various hardware devices, including magnetic powder brakes and rectifying drives;

The output signal of the servo driver is sent to the servo motor through the switch to control the operation of the motor.

Further, the tension control adopts closed-loop control. The tension sensor is used to detect the tension of the roll paper, and the electromagnetic torque of the unwinding part is adjusted in real time to realize the control of the constant tension of the roll paper. The line speed of the coil part is the same.

Further, there are 11 digital inputs of PLC, including 2 proximity switches, 1 automatic/detection switch, 4 limit switches, 1 laser sensor and 2 photoelectric deviation correction sensors;

The digital output has a paper break alarm light, its function is that when the roll paper is broken, the alarm light will flash, and at the same time, the emergency stop button of the rewinder will be pressed to prevent the equipment from being affected;

The ports of the analog I/O points have 1 input of tension sensor, 2 output of magnetic powder brake and 2 output of correction driver;

Further, the PLC digital quantity is powered by 24V DC power supply, and uses its own integrated EtherNet/IP network interface to communicate with the PC through the switch. The PLC digital quantity module is directly connected to the controller CPU, and is directly connected to the digital quantity through the The quantity input module 1769-IQ16 is connected with the digital quantity output module 1769-OB16;

The PLC analog module is connected to the analog input 1794-IE8 and the analog output 1794-OE4 through the remote I/O module (Flex I/O) 1794-AENT through the expansion slot on the right side. The remote I/O module It is connected to the switch with the PLC through the network cable, so as to realize the high-speed transmission of information.

Further, the correction control of the multi-axis rewinder adopts logic control. The controller outputs a stable voltage to make the correction mechanism run at a constant speed, and the photoelectric correction sensor detects whether the edge of the roll paper blocks the photoelectric eye. The controller adjusts the forward and reverse rotation of the motor through the feedback signal, so as to realize the correction control of the roll paper.

Further, a control method of a multi-axis servo tension control device, comprising

(1) Electromagnetic torque tension control algorithm

Taking the tension sensor roller of the rewinding machine as the object, the principle of adjusting the tension is as follows: the set value of the tension is compared with the actual feedback value of the tension, and the deviation value is adjusted by the PID controller as the torque compensation value. torque to achieve the effect of adjusting the tension;

The PID controller uses the PID algorithm:

In formula (1-2), is the set value of the tension, is the feedback value of the tension sensor, is the tension deviation value, is the adjustment amount of the electromagnetic torque, and is the proportional coefficient, integral coefficient and differential coefficient of the PID controller respectively;

(2) Speed control algorithm of multi-shaft rewinder

The PI control algorithm is adopted to compare the set value of the linear speed with the actual value of the speed feedback from the encoder, and the speed difference is adjusted by the PI controller as the voltage compensation value, and the speed of the motor is adjusted to achieve constant linear speed operation. Purpose, PI controller adopts PI control algorithm:

In formula (3-4), is the voltage compensation value, is the speed setting value, is the speed value fed back by the encoder, is the speed deviation value, is the proportional coefficient of the PI controller, and is the integral coefficient of the PI controller

The beneficial effects of the utility model

The beneficial effect of the utility model is that the utility model can realize the automatic control of the tension, and the precision of the control effect of the tension is further improved, and the structure and function of the control system are more perfect at the same time.

Description of drawings

Figure 1 shows the network topology;

Figure 2 is the IP address and slot number table corresponding to the module;

Figure 3 is a diagram of a torque-based tension control structure;

Fig. 4 is a structure diagram based on speed control;

Fig. 5 is the flow chart of the deviation correction control algorithm;

Figure 6 is the external wiring diagram of the switch button;

Figure 7 is the internal wiring diagram of the control cabinet;

Figure 8 is a table of PLC digital input points;

Figure 9 is a table of PLC digital output points;

Figure 10 is a table of PLC analog input points;

Figure 11 is a table of PLC analog output points;

Figure 12 is the external wiring diagram of the PLC digital module;

Figure 13 is the external wiring diagram of the PLC analog module;

Figure 14 is a flow chart of a speed control program;

Figure 15 is a flow chart of the tension control program;

Fig. 16 is a flow chart of correction control;

Figure 17 is a flow chart of the shaft diameter reset program;

In order to further illustrate the present utility model, the present utility model will be described in detail below with reference to the accompanying drawings and embodiments, but they should not be construed as limiting the protection scope of the present utility model.

Detailed ways

The utility model provides a multi-axis servo tension control device, comprising a PLC controller, a servo driver (actuator), a servo motor, a magnetic powder brake/clutch, a deviation correction mechanism, a reducer, a tension sensor, a follower roller, a tension roller, a Switches and limit switches are precisely controlled under one Ethernet (EtherNet/IP); the PLC controller includes controller CPU, digital input module, digital output module, remote I/O module, analog input module, analog output module;

The digital signals of the proximity switch, limit switch, laser sensor, and deviation correction sensor are input to the digital input module, and the analog input signal of the tension sensor is sent to the analog input module, and the analog input module sends the input signal through the remote I/ The O module is sent to the switch, the controller CPU reads the analog input signal through the switch, and the digital input module sends the on-site digital input signal to the controller CPU;

According to the input digital input signal and analog input signal, the controller CPU runs the internal control program to generate digital output signal, analog output signal and servo drive output signal; the output signal is used to control the operation of the field equipment,

Among them, the digital output signal is sent to the various hardware devices on site through the digital output module, and the hardware devices include alarm lights and deviation correction drivers; the analog output signal is sent to the analog output module through the switch and remote I/O module, and then sent to the site. various hardware devices, including magnetic powder brakes and rectifying drives;

The output signal of the servo driver is sent to the servo motor through the switch to control the operation of the motor.

Set the corresponding IP address and slot number of each module. Connect the controller, the driver and the remote I/O module with the network cable through the switch to realize the high-speed transmission of the information between the upper computer and the lower computer. Figure 1 is a network topology diagram based on Ethernet.

The corresponding IP addresses and slot numbers of PLC modules, digital modules, analog modules, remote I/O modules and driver modules are shown in Figure 2.

1. Design of control algorithm

The tension control adopts closed-loop control. The tension sensor is used to detect the tension of the roll paper, and the electromagnetic torque of the unwinding part is adjusted in real time to realize the control of the constant tension of the roll paper. While controlling the torque, it is necessary to ensure that the linear speed of the rewinding part is consistent with the linear speed of the unwinding part, otherwise the control of the tension by the electromagnetic torque will be affected.

(1) Electromagnetic torque tension control algorithm

Taking the tension sensor roller of the rewinder as the research object, the principle of adjusting the tension is as follows: the set value of the tension is compared with the actual feedback value of the tension, and the deviation value is adjusted by the PID controller as the torque compensation value. Electromagnetic torque to achieve the effect of adjusting the tension. The control structure frame is shown in Figure 3:

The PID controller uses the PID algorithm:

In formula (1-2), is the tension setting value, is the feedback value of the tension sensor, is the tension deviation value, is the adjustment amount of the electromagnetic torque, and is the proportional coefficient, integral coefficient and differential coefficient of the PID controller respectively.

(2) Speed control algorithm of multi-shaft rewinder

In the process of rewinding and unwinding of the rewinder, if the linear speeds of the rewinding part and the unwinding part are inconsistent, a speed difference will occur, which affects the control of the tension by the electromagnetic torque. This section adopts the PI control algorithm, compares the set value of the line speed with the actual speed value fed back by the encoder, adjusts the speed difference as the voltage compensation value after being adjusted by the PI controller, and realizes a constant line speed by adjusting the speed of the motor For the purpose of operation, its control structure block diagram is shown in Figure 4:

The PI controller adopts the PI control algorithm:

In formula (3-4), it is the voltage compensation value, the speed setting value, the speed value fed back by the encoder, the speed deviation value, the proportional coefficient of the PI controller, and the integral coefficient of the PI controller.

(3) Correction control algorithm of multi-shaft rewinder

The correction control of the multi-axis rewinder adopts logic control. The control principle is: the controller outputs a stable voltage to make the correction mechanism run at a constant speed, and the photoelectric correction sensor detects whether the edge of the roll paper blocks the photoelectric eye. A digital signal is given to the controller, and the controller adjusts the forward and reverse rotation of the motor through the feedback signal, so as to realize the correction control of the roll paper. The flow chart of the correction control is shown in Figure 5.

3. Hardware Design

(1) Layout design of electrical cabinet of tension control system

The main electrical components are installed in the electrical cabinet, the power supply part is installed on the backplane, the driver and PLC controller are installed in the middle of the backplane, and the wiring terminals are distributed on the bottom of the backplane.

Control cabinet indicators include power indicator and running indicator. Switch buttons include start button, stop button, emergency stop button and detection/auto button. Its external circuit wiring diagram is shown in Figure 6.

The circuit wiring diagram inside the control cabinet is shown in Figure 7:

(2) PLC circuit

Programmable logic controllers have been widely used in the field of modern industrial control due to their high reliability, powerful functions, and ease of use. The multi-axis rewinder control system designed in this paper mainly requires the controller: powerful I/O processing capability, high-speed pulse output port, and the ability to interact with man-machine interface information.

According to the above analysis of the controller requirements, the utility model selects PLC as the main controller of the multi-axis tension control system.

There are 11 digital inputs of PLC, including 2 proximity switches, 1 automatic/detection switch, 4 limit switches, 1 laser sensor and 2 photoelectric correction sensors, as shown in Figure 8.

The digital output has a paper break alarm light, its function is that when the roll paper is broken, the alarm light will flash, and at the same time, the emergency stop button of the rewinder will be pressed to prevent the equipment from being affected, as shown in Figure 9. Show.

The port distribution of analog I/O points is shown in Figure 10 and Figure 11. There are 1 input of tension sensor, 2 output of magnetic powder brake (clutch) and 2 output of correction driver.

The external wiring diagram of PLC digital quantity is shown in Figure 12. It is powered by 24V DC power supply and communicates with the PC through the switch using its own integrated EtherNet/IP network interface. The PLC digital quantity module is directly connected to the CPU, and is directly connected to the digital quantity input module 1769-IQ16 and the digital quantity output module 1769-OB16 through the right expansion slot interface.

The PLC analog module is connected to the analog input 1794-IE8 and the analog output 1794-OE4 through the remote I/O module (Flex I/O) 1794-AENT through the expansion slot on the right side. The remote I/O module It is connected to the switch with the PLC through the network cable, so as to realize the high-speed transmission of information. The external wiring diagram of the analog module is shown in Figure 13.

4. Procedure

(1) Speed control program

The speed control part includes the configuration of the motor parameters, the precise calculation of the roll diameter, and the precise control of the angular velocity. The flow chart of the speed control program is shown in Figure 14:

(2) Tension control program

The flow chart of the tension control program is shown in Figure 15:

(3) Correction control part

Through the analysis of the internal operation mechanism of the deviation correction control, by setting the output voltage of the controller, the running speed of the deviation correction motor is determined, so that the deviation correction motor can correct the deviation left and right at a constant speed. The deviation correction sensitivity can be set by rotating the sensitivity switch on the deviation correction sensor. Based on the calibration of each device, the correction control flow chart is written, as shown in Figure 16:

(4) Reset control program

The multi-axis system needs to be reset before entering continuous motion. The goal of the system power-on reset is to restore the size of the roller diameter to the starting position, and the realization of this action needs to be completed with the help of the meter counter function. The flowchart of the reset control program is shown in Figure 17:

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. These improvements and Retouching should also be regarded as the protection scope of the present invention.

Claims (5)

1. A multi-axis servo tension control device is characterized in that: the device comprises a PLC controller, a servo driver, a servo motor, a magnetic powder brake/clutch, a deviation correcting mechanism, a speed reducer, a tension sensor, a follower roller, a tension roller, a proximity switch and a limit switch, wherein the PLC controller, the servo driver, the servo motor, the magnetic powder brake/clutch, the deviation correcting mechanism, the speed reducer, the tension sensor, the follower roller, the tension roller, the proximity switch and; the PLC internally comprises a controller CPU, a digital quantity input module, a digital quantity output module, a remote I/O module, an analog quantity input module and an analog quantity output module;

digital quantity signals of the proximity switch, the limit switch, the laser sensor and the deviation correction sensor are input into a digital quantity input module, an analog quantity input signal of the tension sensor is transmitted to the analog quantity input module, the analog quantity input module transmits the input signal to a switch through a remote I/O module, a controller CPU reads the analog quantity input signal through the switch, and meanwhile, the digital quantity input module transmits a field digital input quantity signal to the controller CPU;

according to the input digital input signal and the input analog signal, a controller CPU runs an internal control program to generate a digital output signal, an analog output signal and a servo drive output signal; the output signal is used to control the operation of the field device,

the digital output signal is sent to each hardware device on site through the digital output module, and the hardware devices comprise alarm lamps and deviation rectifying drivers; the analog output signal is sent to the analog output module through the switch and the remote I/O module and then sent to each piece of hardware equipment on site, wherein the hardware equipment comprises a magnetic powder brake and a deviation rectifying driver;

the output signal of the servo driver is sent to the servo motor through the exchanger to control the operation of the motor.

2. A multi-axis servo tension control device as claimed in claim 1, wherein: the tension control adopts closed-loop control, the tension applied to the roll paper is detected through a tension sensor, the electromagnetic torque of the unwinding part is adjusted in real time, the constant tension of the roll paper is controlled, and the linear speed of the winding part is consistent with that of the unwinding part.

3. A multi-axis servo tension control device as claimed in claim 1, wherein: the PLC has 11 digital inputs, which are respectively provided with 2 proximity switches, 1 automatic/detection switch, 4 limit switches, 1 laser sensor and 2 photoelectric deviation-rectifying sensors;

the digital quantity output is provided with a paper breaking alarm lamp which has the functions that when the roll paper is broken, the alarm lamp can flash, and meanwhile, an emergency stop button of the rewinding machine can be pressed down to prevent the equipment from being influenced;

the port of the analog I/O point is respectively provided with 1 tension sensor input, 2 magnetic powder brake outputs and 2 deviation rectifying driver outputs.

4. A multi-axis servo tension control device as claimed in claim 1, wherein: the PLC digital quantity is supplied with power by a 24V direct-current power supply, and is communicated with the PC through the switch by utilizing an EtherNet/IP network interface integrated with the PLC digital quantity module, and the PLC digital quantity module is directly connected with the CPU of the controller and is directly connected with the digital quantity input module 1769-IQ16 and the digital quantity output module 1769-OB16 through a right side expansion slot interface;

the PLC analog quantity module is connected with analog quantity input 1794-IE8 and analog quantity output 1794-OE4 through a remote I/O module (Flex I/O) 1794-AENT through an expansion socket on the right side, and the remote I/O module and the PLC are connected to the switch through a network cable, so that high-speed transmission of information is realized.

5. A multi-axis servo tension control device as claimed in claim 1, wherein: the deviation correction control of the multi-axis rewinding machine adopts logic control, the controller enables the deviation correction mechanism to operate at a constant speed by outputting stable voltage, the photoelectric deviation correction sensor feeds back a digital quantity signal to the controller by detecting whether the edge of the roll paper blocks a photoelectric eye, and the controller adjusts the forward and reverse rotation of the motor through the fed-back signal, so that the deviation correction control of the roll paper is realized.

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